Mechanical arm positioning tool for pipeline detection

Abstract

The present application relates to pipeline detection technical field, specifically to a kind of mechanical arm positioning tool for pipeline detection, comprising: lifting platform, the lifting platform is set, after rising, for being close to the pipeline to be detected;First swing arm and second swing arm, both are hingedly arranged on the lifting platform, and oppositely arranged;First guide push piece and second guide push piece, the first guide push piece is arranged at the end of the first swing arm, and the second guide push piece is arranged at the end of the second swing arm;Chain piece, the chain piece is used to install oppositely arranged radiographic machine and imaging detector, the chain piece can be close to pipe under the push of the first guide push piece and the second guide push piece, so that the chain piece is close to pipeline, and the chain piece is rotationally arranged relative to the first guide push piece and the second guide push piece;Driving wheel, setting on the chain piece, for driving the chain piece to rotate around pipeline along pipeline.The present application realizes the automatic detection of high-altitude pipeline.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection technology, and in particular to a positioning fixture for a robotic arm used in pipeline inspection. Background Technology

[0002] In the field of pipeline inspection, radiographic testing, as an important non-destructive testing method, is widely used for quality inspection of various pipelines. Its principle is to use a radiographic machine to emit radiation that penetrates the pipeline and forms an image on an imaging detector, thereby detecting whether there are defects inside the pipeline.

[0003] However, in practice, especially for the inspection of high-altitude pipelines, several challenges arise. Currently, the conventional approach is to manually install the inspection equipment at the designated location on the pipeline. However, the complex environment at heights, limited space, and the risk of falls make equipment installation difficult. Firstly, manually carrying equipment up to heights is physically demanding, inconvenient, and makes it difficult to accurately position the X-ray machine and imaging detector, potentially leading to poor imaging and inaccurate results. Secondly, high-altitude operations place extremely high demands on the safety of personnel; even with safety precautions, potential hazards cannot be completely eliminated, and the consequences of an accident could be disastrous.

[0004] Therefore, in order to improve the efficiency and accuracy of high-altitude pipeline X-ray inspection while ensuring the safety of construction personnel, it is urgent to develop a robotic arm positioning fixture for pipeline inspection that can assist in the installation of inspection equipment. This fixture can effectively solve the problem of the high difficulty in installing high-altitude pipeline inspection equipment. Summary of the Invention

[0005] To address the aforementioned technical problems, embodiments of the present invention provide a robotic arm positioning fixture for pipeline inspection, enabling automatic inspection of high-altitude pipelines.

[0006] To achieve the above objectives, embodiments of the present invention provide a positioning fixture for a robotic arm used in pipeline inspection, comprising: A lifting platform, wherein the lifting platform is configured to be raised and used to approach the pipe to be inspected after being raised; The first swing arm and the second swing arm are both hinged to the lifting platform and are arranged opposite to each other. A first guide pusher and a second guide pusher, wherein the first guide pusher is disposed at the end of the first swing arm and the second guide pusher is disposed at the end of the second swing arm; A chain member is used to mount a ray machine and an imaging detector that are arranged opposite to each other. The chain member can be pushed close to the pipe by the first guide pusher and the second guide pusher, so that the chain member surrounds the pipe and the chain member is rotatably arranged relative to the first guide pusher and the second guide pusher. A drive wheel is mounted on the chain and is used to drive the chain to rotate around the pipe.

[0007] For example, at least one embodiment of this disclosure provides a positioning fixture for a pipeline inspection robotic arm, wherein the chain comprises a plurality of sequentially hinged chain links, and further includes: Each link of the chain is provided with a guide rail component, and two adjacent guide rail components are close to each other. The guide rail components have limiting grooves on both sides. A swing frame, which is hinged to the first guide pusher and the second guide pusher; A sliding locking part is disposed on the swing frame and slides and rotates within the limiting groove.

[0008] For example, at least one embodiment of this disclosure provides a positioning fixture for a robotic arm used for pipeline inspection, wherein the swing frame consists of several sections that are hinged to each other.

[0009] For example, at least one embodiment of this disclosure provides a positioning fixture for a robotic arm used for pipeline inspection, wherein the sliding clamp is a plurality of rollers arranged in sequence.

[0010] For example, at least one embodiment of this disclosure provides a positioning fixture for a robotic arm used for pipeline inspection, wherein the end of the limiting groove passes through the guide rail, and the end of the limiting groove gradually increases in size from near the guide rail to away from the guide rail.

[0011] For example, at least one embodiment of this disclosure provides a positioning fixture for a pipeline inspection robotic arm, wherein both the first swing arm and the second swing arm are bent, each including a base arm and a bent arm, the bent arm being disposed on the base arm, and further comprising: A first linear drive unit, one end of which is hinged to the base arm of the first swing arm, and the other end of which is hinged to the lifting platform; The second linear drive is hinged at one end to the base arm of the second swing arm and at the other end to the lifting platform.

[0012] For example, at least one embodiment of this disclosure provides a positioning fixture for a robotic arm used for pipeline inspection, which further includes a connecting assembly for connecting the two ends of the chain, including: The chain includes a sliding latch and a sliding head. The sliding latch is slidably disposed at one end of the chain, and the sliding head is slidably disposed at the other end of the chain. The sliding latch and the sliding head have a connected state and a disconnected state. When the first guide pusher and the second guide pusher push the two ends of the chain closer together, the sliding latch and the sliding head can become connected. When the first guide pusher and the second guide pusher push the two ends of the chain away, the sliding latch and the sliding head can become disconnected.

[0013] For example, at least one embodiment of this disclosure provides a positioning fixture for a robotic arm used for pipeline inspection, wherein the connecting assembly further includes: A first elastic element, one end of which acts on the sliding latch and the other end of which acts on the chain, is used to provide a force for the sliding latch to approach the sliding head; The second elastic element has one end acting on the sliding head and the other end acting on the chain, and is used to provide a force for the sliding head to approach the sliding chain.

[0014] For example, at least one embodiment of this disclosure provides a positioning fixture for a robotic arm used for pipeline inspection. The sliding clamp has a groove, the groove being radially aligned with the pipeline. A bead is slidably disposed on the sliding clamp head, the bead being able to be engaged in the groove. After the first guide pusher and the second guide pusher drive the two ends of the chain away from each other, the bead can be separated from the groove.

[0015] For example, at least one embodiment of this disclosure provides a positioning fixture for a robotic arm used for pipeline inspection, wherein the connecting assembly further includes: The third elastic element has one end acting on the retaining bead and the other end acting on the sliding head, providing the retaining bead with force to be engaged in the slot.

[0016] Compared with the prior art, the positioning fixture for a pipeline inspection robot provided in this embodiment of the invention has the following significant technical advantages: This fixture enables rapid installation and positioning of the testing equipment through a mechanical structure, avoiding the cumbersome process of manually carrying and installing the equipment at height, thus greatly saving installation time. Simultaneously, the drive wheel rotates the chain around the pipe, enabling rapid, all-around inspection and improving testing efficiency.

[0017] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are merely some exemplary embodiments of this application. For those skilled in the art, other drawings can be obtained based on the content of the exemplary embodiments of this application and these drawings without any creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of a robotic arm positioning fixture for pipeline inspection in one embodiment of the present invention; Figure 2 for Figure 1 A magnified schematic diagram of part A in the middle; Figure 3 for Figure 1 Another perspective structural diagram of the robotic arm positioning fixture for pipeline inspection in the embodiment; Figure 4 for Figure 3 A magnified schematic diagram of part of the B section; Figure 5 for Figure 1 A top view of the positioning fixture for the robotic arm used in pipeline inspection in the embodiment; Figure 6 for Figure 5 Schematic diagram of the cross-sectional structure of the middle CC section; Figure 7 for Figure 6 A magnified schematic diagram of the middle D section; In the figure: lifting platform 100, first swing arm 200, base arm 220, curved arm 230, first guide pusher 210, second swing arm 300, second guide pusher 310, chain 400, drive wheel 410, chain link 420, guide rail 430, limiting groove 431, swing frame 500, sliding card part 510, first linear drive 600, second linear drive 700, connecting assembly 800, sliding card 810, card slot 811, sliding card head 820, card ball part 821, first elastic element 830, second elastic element 840, third elastic element 850. Detailed Implementation

[0020] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0021] To keep the drawings concise, each figure only schematically shows the parts relevant to the invention, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, components with the same structure or function are shown only schematically, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one."

[0022] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] It should be noted that when an element is referred to as being "set on" another element, it can be directly set on the other element or indirectly set on the other element. It should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0024] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a number" means two or more, unless otherwise explicitly specified.

[0025] Please see Figures 1-7This invention illustrates a positioning fixture for a robotic arm used in pipeline inspection according to an embodiment of the present invention. The fixture includes a lifting platform 100, a first swing arm 200, a second swing arm 300, a first guide pusher 210, a second guide pusher 310, a chain 400, and a drive wheel 410. The lifting platform 100 is raised and lowered to approach the pipeline to be inspected. The first swing arm 200 and the second swing arm 300 are both hinged to the lifting platform 100 and positioned opposite each other. The first guide pusher 210 is located at the end of the first swing arm 200, and the second guide pusher 310 is located at the end of the second swing arm 300. The chain 400 is used to mount a X-ray machine and an imaging detector positioned opposite each other. The chain 400 can approach the pipeline under the push of the first guide pusher 210 and the second guide pusher 310, so that the chain 400 surrounds the pipeline. The chain 400 is rotatably positioned relative to the first guide pusher 210 and the second guide pusher 310. The drive wheel 410 is located on the chain 400 and is used to drive the chain 400 to rotate around the pipeline.

[0026] The chain 400 includes several chain links 420 that are hinged together in sequence. Each chain link 420 is provided with a guide rail 430. Adjacent guide rails 430 are close to each other. The guide rails 430 have limiting grooves 431 on both sides. The swing frame 500 is hinged to the first guide pusher 210 and the second guide pusher 310. The sliding latch 510 is provided on the swing frame 500 and slides and rotates within the limiting grooves 431. The swing frame 500 consists of several hinged sections. For example, the lifting platform 100 serves as the basic support and lifting component of the entire tooling, achieving its lifting function through hydraulic, electric, or other lifting mechanisms. Once raised, it can approach the high-altitude pipeline to be inspected, providing a suitable height position for the subsequent installation of inspection equipment.

[0027] The first swing arm 200 and the second swing arm 300 are both hinged to the lifting platform 100 and arranged opposite each other. This hinged arrangement allows the swing arms to swing within a certain angle range, thereby flexibly adjusting the position of the testing equipment. According to the specific location of the pipeline and the testing requirements, the swing angle of the swing arms can be controlled to make the first guide pusher 210 and the second guide pusher 310 reach the appropriate position.

[0028] The first guide pusher 210 and the second guide pusher 310 are respectively disposed at the ends of the first swing arm 200 and the second swing arm 300, and are used to push the chain 400 to approach the pipe and guide the chain 400 to surround the pipe. The design of the guide pushers ensures that the chain 400 moves along a predetermined path, ensuring that the detection equipment is accurately installed around the pipe.

[0029] The chain 400 consists of several sequentially hinged chain links 420, used to mount the X-ray machine and imaging detector that are positioned opposite each other. The chain 400 can be flexibly arranged around the pipeline under the push of the first guide pusher 210 and the second guide pusher 310, and can be rotated relative to the guide pushers, which facilitates adjustment and positioning around the pipeline.

[0030] The drive wheel 410 is mounted on the chain 400 and is driven to rotate by a motor or other drive device, which in turn drives the chain 400 to rotate around the pipe, so as to realize the circular motion of the X-ray machine and imaging detector around the pipe, so as to detect the pipe from all directions.

[0031] Each link 420 of the chain is provided with a guide rail 430. Two adjacent guide rails 430 are close to each other, and the limiting grooves 431 on both sides cooperate with the sliding card part 510 to provide guidance for the chain 400 to rotate around the pipe, ensuring the stability and accuracy of the movement of the chain 400.

[0032] The swing frame 500 is hinged to the first guide pusher 210 and the second guide pusher 310, and consists of several sections that are hinged to each other. This multi-section hinged design allows the swing frame 500 to automatically adjust according to the movement of the chain 400, preventing the sliding part 510 from getting stuck in the limiting groove 431 and ensuring the smooth movement of the chain 400.

[0033] The sliding card part 510 is set on the swing frame 500 and can slide and rotate within the limiting groove 431 to realize the connection between the swing frame 500 and the chain 400, and play a guiding and supporting role when the chain 400 moves.

[0034] During pipeline inspection, the lifting platform 100 is moved to a suitable position near the high-altitude pipeline to be inspected, and the lifting mechanism is activated to raise the lifting platform 100 to a height close to the pipeline. The operator adjusts the hinge angle of the first swing arm 200 and the second swing arm 300 according to the position and direction of the pipeline, so that the first guide pusher 210 and the second guide pusher 310 are roughly aligned with the pipeline.

[0035] The chain 400, equipped with the X-ray machine and imaging detector, is placed on the first guide pusher 210 and the second guide pusher 310. By controlling the further swing of the swing arm, the first guide pusher 210 and the second guide pusher 310 push the chain 400 closer to the pipe. During this process, the sliding latch 510 on the swing frame 500 pushes the limiting groove 431 of the guide rail 430, bringing both ends of the chain 400 closer to the pipe, guiding the chain 400 to accurately approach the pipe and gradually surround it. Because the swing frame 500 consists of several hinged sections, it can automatically adapt to the movement of the chain 400, preventing the sliding latch 510 from getting stuck.

[0036] Once the chain 400 surrounds the pipe, the drive mechanism of the drive wheel 410 is activated. The drive wheel 410 drives the chain 400 to rotate around the pipe. The X-ray machine emits radiation that penetrates the pipe, and the imaging detector simultaneously receives the radiation and creates an image, thus completing a multi-angle, all-around inspection of the pipe. During the inspection process, the guide rail 430 continuously guides the rotation of the chain 400, ensuring the accuracy and stability of the inspection.

[0037] After the inspection is completed, stop the rotation of the drive wheel 410, and control the swing arm to swing in the opposite direction to separate the chain 400 from the pipeline. Then lower the height of the lifting platform 100 and remove the entire tooling from the site.

[0038] This fixture enables rapid installation and positioning of the testing equipment through a mechanical structure, avoiding the cumbersome process of manually carrying and installing the equipment at height, thus greatly saving installation time. Simultaneously, the drive wheel rotates the chain around the pipe, enabling rapid, all-around inspection and improving testing efficiency.

[0039] The tooling's guiding and positioning structure ensures that the X-ray machine and imaging detector can be accurately installed in the ideal position, avoiding positional deviations that may occur during manual installation, thereby improving imaging quality and the accuracy of test results. The guide rails provide stable guidance for the chain rotation, further guaranteeing the accuracy of the testing process.

[0040] Using this tool for high-altitude pipeline inspection reduces the time and risks for construction workers working at heights. Workers only need to operate the tool from the ground, eliminating the need to climb to heights to carry and install equipment, thus reducing the probability of falls and other accidents and effectively ensuring the safety of construction workers.

[0041] The hinged design of the swing arm and the rotational arrangement of the chain relative to the guide pusher enable the fixture to adapt to high-altitude pipeline inspections at different locations and with different pipe diameters. The multi-section hinged swing frame and the corresponding guide rail limiting groove structure further enhance the fixture's adaptability to complex working conditions, ensuring that the installation and inspection of the testing equipment can be successfully completed under various circumstances.

[0042] In some examples, the sliding card portion 510 consists of several rollers arranged in sequence. The end of the limiting groove 431 passes through the guide rail 430, and the end of the limiting groove 431 gradually increases in size from near the guide rail 430 to far away from the guide rail 430.

[0043] For example, the sliding clamp 510 is designed with several rollers arranged in sequence, which brings significant flexibility to the tooling during actual operation. The arrangement of multiple rollers allows some rollers to exit from the limiting groove 431 as the chain 400 moves around the pipe, thereby increasing the achievable rotation angle of the chain and ensuring unimpeded inspection. Simultaneously, the rolling friction of the rollers, compared to other sliding methods, effectively reduces the friction between the sliding clamp 510 and the limiting groove 431, reducing energy loss and improving the efficiency of the tooling operation.

[0044] The end of the limiting groove 431 penetrates the guide rail 430, and the end gradually increases in size from near the guide rail 430 to far away from it. This special end structure cooperates with the sliding catch 510 composed of rollers, further enhancing the adaptability of the tooling. When the roller re-enters the limiting groove 431, this gradually increasing end structure also helps guide the roller to smoothly return to the limiting groove 431, ensuring that the movement of the chain 400 can continue stably. In addition, the through-type end design facilitates the inspection and adjustment of the sliding catch 510 and the limiting groove 431 during tooling assembly, debugging, and maintenance.

[0045] When preparing to install the testing equipment, the lifting platform 100 rises to a suitable height, and the first swing arm 200 and the second swing arm 300 adjust their angles so that the first guide pusher 210 and the second guide pusher 310 push the chain 400 closer to the pipe. During this process, the rollers on the swing frame 500 push the limiting groove 431 of the guide rail 430, guiding the chain 400 to accurately approach and surround the pipe. Because the rollers are arranged sequentially, they can flexibly adapt to the slight deformation and position adjustment of the guide rail 430 during the process of surrounding the pipe.

[0046] After the chain 400 surrounds the pipe and the testing equipment is positioned correctly, the drive wheel 410 drives the chain 400 to rotate around the pipe for testing. During rotation, to achieve 360-degree rotation of the chain, some rollers need to slide out of the limiting groove 431 at one end and enter the limiting groove 431 at the other end. The gradually increasing opening at the end of the limiting groove 431 makes it easier for the rollers to enter the limiting groove 431, ensuring the continuity and stability of the testing process. After the test is completed, the swing arm swings in the opposite direction to separate the chain 400 from the pipe.

[0047] The smooth fit between the roller and the limiting groove 431 reduces the jamming of the chain 400 during movement. When the roller enters and exits the limiting groove 431, the gradually increasing end structure ensures a smooth transition, avoiding damage to the detection equipment due to sudden jamming or impact, improving imaging stability, and thus enhancing the accuracy of the detection results.

[0048] Throughout the inspection process, the coordinated operation of the rollers and the limiting groove 431 ensures that the chain 400 can rotate continuously and stably around the pipeline. Even in special circumstances, the flexible adjustment of the rollers can quickly restore the chain 400 to normal movement, ensuring that the inspection process is uninterrupted and providing reliable operational support for pipeline inspection.

[0049] The structure of the limiting groove 431, which extends through the end and gradually increases in size, allows the rollers to enter and exit the limiting groove 431 more easily during the installation and disassembly of the tooling. This not only improves the efficiency of installation and disassembly but also reduces the difficulty of operation and decreases the possibility of damage to the tooling due to improper operation.

[0050] In some examples, the first swing arm 200 and the second swing arm 300 are both bent types, each including a base arm 220 and a bent arm 230. The bent arm 230 is disposed on the base arm 220. One end of the first linear drive member 600 is hinged to the base arm 220 of the first swing arm 200, and the other end is hinged to the lifting platform 100. One end of the second linear drive member 700 is hinged to the base arm 220 of the second swing arm 300, and the other end is hinged to the lifting platform 100.

[0051] For example, the first swing arm 200 and the second swing arm 300 are designed as bent arms, consisting of a base arm 220 and a bent arm 230, respectively. This bent structure allows the swing arms to move more flexibly and adaptably in space, better suited to complex high-altitude pipeline layouts compared to straight arm structures. The bent arm 230 is mounted on the base arm 220. By changing the angle between the bent arm and the base arm, as well as the overall swing angle of the swing arms, the positions of the first guide pusher 210 and the second guide pusher 310 can be adjusted, thereby accurately delivering the chain 400 equipped with the detection equipment to the target position around the pipeline.

[0052] The first linear drive 600 can be a hydraulic cylinder, with one end hinged to the base arm 220 of the first swing arm 200 and the other end hinged to the lifting platform 100. By controlling the extension and retraction of the first linear drive 600, the swing angle of the first swing arm 200 can be precisely changed. For example, when it is necessary to move the first guide pusher 210 upwards closer to the pipe, the first linear drive 600 extends, pushing the base arm 220 to rotate around its hinge point with the lifting platform 100, thereby driving the curved arm 230 and the first guide pusher 210 to rise to the appropriate position.

[0053] The second linear drive unit 700 can be a hydraulic cylinder, with one end hinged to the base arm 220 of the second swing arm 300 and the other end hinged to the lifting platform 100. Its function is similar to the first linear drive unit 600, precisely adjusting the swing angle of the second swing arm 300 by controlling its own extension and retraction. The first linear drive unit 600 and the second linear drive unit 700 cooperate to achieve fine adjustment of the relative position and angle of the first swing arm 200 and the second swing arm 300. The folding arm design allows the fixture to better adapt to complex high-altitude environments. Whether in narrow pipe shafts or pipe areas surrounded by numerous obstacles, the folding arm can flexibly swing and adjust its angle to avoid obstacles and accurately deliver the inspection equipment to the target location. This flexibility greatly improves the fixture's applicability in different spatial layouts and can meet the pipe inspection needs under various complex conditions.

[0054] The control of the first linear drive unit 600 and the second linear drive unit 700 can be integrated into the operation console, allowing operators to precisely adjust the angle of the boom remotely from the ground. This eliminates the need for construction workers to make complex manual adjustments at height, reducing the difficulty and risk of high-altitude operations and improving operational convenience and safety.

[0055] By directly controlling the swing arm angle through linear drives, the operation process of the tooling is simplified. Operators only need to control the extension and retraction of the linear drives to achieve various movements of the swing arm. Compared with the traditional multi-component collaborative operation method, the operation is simpler and more intuitive, reducing the learning cost and the possibility of operational errors for operators, and improving work efficiency.

[0056] In some examples, a connecting component 800 is also included. The connecting component 800 is used to connect the two ends of the chain 400. It includes a sliding latch 810 and a sliding latch head 820. The sliding latch 810 is slidably disposed at one end of the chain 400, and the sliding latch head 820 is slidably disposed at the other end of the chain 400. The sliding latch 810 and the sliding latch head 820 have a connected state and a disconnected state. After the first guide pusher 210 and the second guide pusher 310 push the two ends of the chain 400 closer together, the sliding latch 810 and the sliding latch head 820 can become connected. After the first guide pusher 210 and the second guide pusher 310 drive the two ends of the chain 400 away, the sliding latch 810 and the sliding latch head 820 can become disconnected.

[0057] The first elastic element 830 acts on the sliding latch 810 at one end and on the chain 400 at the other end, and is used to provide a force for the sliding latch 810 to approach the sliding head 820; the second elastic element 840 acts on the sliding head 820 at one end and on the chain 400 at the other end, and is used to provide a force for the sliding head 820 to approach the sliding latch 810.

[0058] For example, the sliding clip 810 is slidably disposed at one end of the chain 400, and the sliding clip head 820 is slidably disposed at the other end of the chain 400. Together, they realize the connection and disconnection of the two ends of the chain 400.

[0059] When the first guide pusher 210 and the second guide pusher 310 push the two ends of the chain 400 closer together, the sliding clamp 810 and the sliding clamp head 820 gradually approach each other under the action of the guide pushers. Because they are slidably mounted on the chain 400, this sliding characteristic allows them to adapt to minute positional deviations during the docking process, avoiding connection failure due to slight misalignment. When the two approach each other to a certain extent, they enter a connection state, thereby connecting the two ends of the chain 400 and enabling the chain 400 to tightly enclose the pipe.

[0060] When the inspection is completed, the first guide pusher 210 and the second guide pusher 310 drive the two ends of the chain 400 away, allowing the sliding clamp 810 and the sliding clamp head 820 to disconnect. This design facilitates the disassembly of the chain 400 from the pipeline, providing convenience for the subsequent recovery of the inspection equipment and the removal of tooling.

[0061] The first elastic element 830 acts on the sliding clamp 810 at one end and on the chain 400 at the other end, providing a force to the sliding clamp 810 close to the sliding head 820. During the rotation detection process of the chain 400 around the pipe, the elastic force of the first elastic element 830 helps to maintain the connection stability between the sliding clamp 810 and the sliding head 820, ensuring that the connection will not loosen due to centrifugal force or other external forces when the chain 400 rotates.

[0062] The second elastic element 840 acts on the sliding clamp 820 at one end and on the chain 400 at the other, similarly providing force to bring the sliding clamp 820 closer to the sliding clamp 810. Working in conjunction with the first elastic element 830, it further enhances the stability of the connection. Simultaneously, the presence of these two elastic elements allows the chain 400 to have a slight amount of slippage after connection, better adapting to unevenness on the pipe surface or circumferential changes caused during inspection, avoiding interference with the normal operation of the inspection equipment. The elastic force they provide ensures both smooth rotation of the chain 400 relative to the pipe and stable connection.

[0063] During testing, the lifting platform 100 rises to a suitable height. After the first swing arm 200 and the second swing arm 300 are adjusted to the correct angles, the first guide pusher 210 and the second guide pusher 310 push the chain 400 closer to the pipeline. During this process, the sliding catches 810 and sliding catches 820 at both ends of the chain 400 gradually approach each other as the chain 400 moves.

[0064] When the chain 400 is arranged around the pipeline and the two ends are close to a certain extent, the sliding clamp 810 and the sliding clamp head 820 enter the connection state under the pushing of the first guide pusher 210 and the second guide pusher 310 and the elastic force of the first elastic member 830 and the second elastic member 840. The chain 400 successfully surrounds the pipeline, preparing for the subsequent installation and testing of the testing equipment.

[0065] During the inspection process, the drive wheel 410 drives the chain 400 to rotate around the pipe. The first elastic element 830 and the second elastic element 840 continuously provide appropriate elastic force to ensure a stable connection between the sliding clamp 810 and the sliding clamp head 820. Even if the chain 400 encounters unevenness or slight deformation on the pipe surface during rotation, the chain 400 can still maintain a stable connection and smooth rotation, ensuring that the X-ray machine and imaging detector can stably inspect the pipe and improve the accuracy of the inspection results.

[0066] After the test is completed, the first guide pusher 210 and the second guide pusher 310 move the two ends of the chain 400 away. During this process, the sliding clamp 810 and the sliding clamp head 820, under the pulling force of the guide pushers and the movement of the chain 400 itself, overcome the elastic force of the first elastic element 830 and the second elastic element 840, and become disconnected. After the two ends of the chain 400 are disconnected, it is easy to remove it from the pipe. Then, by controlling the swing arm to swing in the opposite direction, the chain 400 is completely separated from the pipe, completing the recovery of the testing equipment.

[0067] The sliding mechanism of the sliding clamp 810 and the sliding clamp head 820 allows them to adapt to minute positional deviations at both ends of the chain 400 during connection, greatly reducing the probability of connection failure. This adaptive capability ensures that the chain 400 can smoothly enclose the pipe under various complex conditions, improving the reliability of the tooling in actual use.

[0068] The first elastic element 830 and the second elastic element 840 provide stable elastic force for the connection between the sliding clamp 810 and the sliding clamp head 820. During the testing process, even if the chain 400 is affected by the unevenness of the pipe surface, the elastic elements can ensure the stability of the connection and prevent the chain 400 from loosening or breaking, thereby ensuring the smooth progress of the testing work and improving the reliability of the test results.

[0069] The design of the connecting component 800 makes connecting and disconnecting the chain 400 simple and convenient. In daily use of the tooling, operators can quickly tighten or loosen the chain 400 around the pipe, improving work efficiency. At the same time, this simple connection structure also facilitates inspection, repair, and replacement of the connecting components by maintenance personnel, reducing the tooling's maintenance costs.

[0070] The stable connection provided by the elastic element ensures that the chain 400 remains stable during rotational inspection around the pipe. This helps the X-ray machine and imaging detector maintain a relatively stable position and orientation, improving image quality and thus enhancing the accuracy of the inspection results. Stable rotation also prevents damage to the inspection equipment caused by the swaying of the chain 400, extending the service life of the inspection equipment.

[0071] The slight slippage after the chain 400 is connected can effectively disperse the stress generated by pipe deformation or chain 400 movement, avoid stress concentration at the connection point, thereby reducing the risk of damage to the connection components and chain 400 itself, and further optimizing the stability of the testing process.

[0072] In some examples, the sliding clamp 810 has a groove 811 oriented radially along the pipe. A retaining bead 821 is slidably disposed on the sliding clamp head 820. The retaining bead 821 can be engaged within the groove 811, and after the first guide pusher 210 and the second guide pusher 310 drive the two ends of the chain 400 away, the retaining bead 821 can separate from the groove 811. A third elastic member 850 acts on the retaining bead 821 at one end and on the sliding clamp head 820 at the other end, providing force for the retaining bead 821 to be engaged within the groove 811.

[0073] For example, the sliding clamp 810 is provided with a groove 811 along the radial direction of the pipe, and a retaining bead 821 is slidably mounted on the sliding clamp head 820. This design provides a reliable way to connect the two ends of the chain 400. The radial arrangement of the groove 811 is adapted to the structural characteristics of the pipe, allowing the retaining bead 821 to accurately engage with the groove 811 during docking, achieving a stable connection between the two ends of the chain 400. At the same time, the sliding arrangement of the retaining bead 821 on the sliding clamp head 820 provides a certain degree of flexibility in the connection process, helping to accommodate minor positional deviations that may exist at the two ends of the chain 400 during docking.

[0074] The third elastic element 850 acts on the retaining bead 821 at one end and on the sliding clamp 820 at the other end, providing force for the retaining bead 821 to be engaged in the groove 811. During the inspection process of the chain 400 around the pipe, the third elastic element 850 ensures that the retaining bead 821 is always engaged in the groove 811, preventing the retaining bead 821 from dislodging from the groove 811 due to the movement of the chain 400, unevenness of the pipe surface, or other external forces, thereby ensuring the stability of the chain 400 connection. In addition, when it is necessary to separate the two ends of the chain 400, the pulling force generated by the first guide pusher 210 and the second guide pusher 310 moving the two ends of the chain 400 away can overcome the elastic force of the third elastic element 850, allowing the retaining bead 821 to separate from the groove 811, realizing convenient disassembly of the chain 400.

[0075] As the first guide pusher 210 and the second guide pusher 310 push the two ends of the chain 400 closer to the pipe, the sliding clamp 810 and the sliding clamp head 820 also gradually approach each other. During the approach process, the clamping bead 821, under the action of the third elastic member 850, always tends to move towards the clamping groove 811.

[0076] When the sliding clip 810 and the sliding clip head 820 approach each other to a certain extent, the locking bead 821, pushed by the elastic force of the third elastic element 850, accurately engages into the slot 811, thereby achieving the connection between the two ends of the chain 400, and the chain 400 successfully encloses the pipe. During this process, the first elastic element 830 and the second elastic element 840 also work together to provide additional stability for the connection of the chain 400, ensuring a tight connection and adapting to minor deformations of the pipe.

[0077] During the inspection process, the drive wheel 410 drives the chain 400 to rotate around the pipe. The third elastic element 850 continuously provides sufficient force to the retaining bead 821, ensuring it is firmly locked in the retaining groove 811. Even if the chain 400 encounters various external forces during rotation, such as protrusions on the pipe surface or pipe vibration, the connection between the retaining bead 821 and the retaining groove 811 remains stable, ensuring that the X-ray machine and imaging detector can stably inspect the pipe. Simultaneously, the first elastic element 830 and the second elastic element 840 allow for a slight slippage in the chain 400, further adapting to pipe deformation and improving the stability and accuracy of the inspection process.

[0078] After the test is completed, the first guide pusher 210 and the second guide pusher 310 drive the two ends of the chain 400 away from each other. As the distance between the two ends of the chain 400 increases, the resulting tension overcomes the elastic force of the third elastic element 850, causing the retaining bead 821 to gradually disengage from the retaining groove 811.

[0079] Once the retaining bead 821 is completely separated from the retaining groove 811, the two ends of the chain 400 are disconnected, facilitating its removal from the pipe. Subsequently, by controlling the swing arm to swing in the opposite direction, the chain 400 is completely separated from the pipe, completing the retrieval of the testing equipment.

[0080] The design of the slot 811 and the retaining bead 821 allows for precise docking at both ends of the chain 400. Furthermore, the retaining bead 821 is firmly secured within the slot 811 by the third elastic element 850, significantly improving connection reliability. Under various complex testing environments, such as pipeline vibration and rapid rotation of the chain 400, the connection remains stable, providing strong support for the smooth operation of testing.

[0081] By combining the first elastic element 830, the second elastic element 840, and the third elastic element 850, a multi-elastic stabilization mechanism is established, ensuring not only the tightness of the chain connection 400 but also enabling it to adapt to various minor deformations and external force interferences in the pipeline. This multi-layered stability design enhances the reliability of the tooling under different working conditions, ensuring the accuracy of the test results and the continuity of the testing process.

[0082] The sliding mechanism of the locking bead 821 on the sliding head 820 allows it to accommodate minor positional deviations at both ends of the chain 400 during the docking process, reducing connection difficulty and improving the adaptability of the tooling in actual operation. Regardless of the complexity of the installation environment, the chain 400 can be connected relatively easily, reducing connection failures due to inaccurate positioning.

[0083] The first guide pusher 210 and the second guide pusher 310 control the approach and distance of the two ends of the chain 400, thereby achieving the connection and separation of the bead retainer 821 and the slot 811. The operation is simple and convenient. This design greatly improves the working efficiency of the tooling, allowing the chain 400 to be installed quickly before testing and disassembled quickly after testing, facilitating the transfer and subsequent use of the tooling.

[0084] A reliable and stable connection structure ensures that the chain 400 maintains a stable motion during rotational inspection around the pipe, preventing positional shifts or wobbling of the X-ray machine and imaging detector due to unstable connections. This helps improve the clarity and accuracy of the imaging, thereby enhancing the precision of the inspection results and enabling more accurate detection of defects inside the pipe.

[0085] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention applied herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary technical means not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0086] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, but various modifications can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A positioning fixture for a robotic arm used in pipeline inspection, characterized in that, include: A lifting platform (100) is provided for lifting and lowering, and is used to approach the pipe to be inspected after it is raised. The first swing arm (200) and the second swing arm (300) are both hinged on the lifting platform (100) and are arranged opposite to each other. A first guide pusher (210) and a second guide pusher (310), wherein the first guide pusher (210) is disposed at the end of the first swing arm (200) and the second guide pusher (310) is disposed at the end of the second swing arm (300); A chain (400) is used to mount a ray machine and an imaging detector that are arranged opposite to each other. The chain (400) can be pushed close to the pipe by the first guide pusher (210) and the second guide pusher (310), so that the chain (400) surrounds the pipe, and the chain (400) is rotatably arranged relative to the first guide pusher (210) and the second guide pusher (310). A drive wheel (410) is mounted on the chain (400) for driving the chain (400) to rotate around the pipe.

2. The positioning fixture for a robotic arm used in pipeline inspection according to claim 1, characterized in that, The chain (400) includes a plurality of sequentially hinged links (420), and further includes: Guide rail (430), each of the chain links (420) is provided with a guide rail (430), two adjacent guide rails (430) are close to each other, and the guide rails (430) have limiting grooves (431) on both sides. A swing frame (500) is hinged to the first guide pusher (210) and the second guide pusher (310); A sliding card part (510) is disposed on the swing frame (500) and slides and rotates within the limiting groove (431).

3. The positioning fixture for a robotic arm used in pipeline inspection according to claim 2, characterized in that, The swing frame (500) consists of several sections that are hinged together.

4. A positioning fixture for a robotic arm used in pipeline inspection according to claim 2, characterized in that, The sliding card part (510) consists of several rollers arranged in sequence.

5. A positioning fixture for a robotic arm used in pipeline inspection according to claim 2, characterized in that, The end of the limiting groove (431) passes through the guide rail (430), and the end of the limiting groove (431) gradually increases in size from near the guide rail (430) to away from the guide rail (430).

6. A positioning fixture for a robotic arm used in pipeline inspection according to claim 1, characterized in that, Both the first swing arm (200) and the second swing arm (300) are bent types, each including a base arm (220) and a bent arm (230), the bent arm (230) being disposed on the base arm (220), and further including: The first linear drive unit (600) has one end hinged to the base arm (220) of the first swing arm (200) and the other end hinged to the lifting platform (100). The second linear drive (700) has one end hinged to the base arm (220) of the second swing arm (300) and the other end hinged to the lifting platform (100).

7. A positioning fixture for a robotic arm used in pipeline inspection according to claim 1, characterized in that, It also includes a connecting component (800) for connecting the two ends of the chain (400), comprising: A sliding latch (810) and a sliding latch (820) are provided. The sliding latch (810) is slidably disposed at one end of the chain (400), and the sliding latch (820) is slidably disposed at the other end of the chain (400). The sliding latch (810) and the sliding latch (820) have a connected state and a disconnected state. After the first guide pusher (210) and the second guide pusher (310) push the two ends of the chain (400) closer together, the sliding latch (810) and the sliding latch (820) can become connected. After the first guide pusher (210) and the second guide pusher (310) drive the two ends of the chain (400) away, the sliding latch (810) and the sliding latch (820) can become disconnected.

8. A positioning fixture for a robotic arm used in pipeline inspection according to claim 7, characterized in that, The connection component (800) further includes: A first elastic element (830) has one end acting on the sliding latch (810) and the other end acting on the chain (400) to provide a force for the sliding latch (810) to approach the sliding latch head (820); The second elastic element (840) has one end acting on the sliding head (820) and the other end acting on the chain (400) to provide a force for the sliding head (820) to approach the sliding member (810).

9. A positioning fixture for a robotic arm used in pipeline inspection according to claim 8, characterized in that, The sliding clamp (810) has a groove (811) in the radial direction of the pipe. A bead (821) is slidably disposed on the sliding clamp head (820). The bead (821) can be locked in the groove (811). After the first guide pusher (210) and the second guide pusher (310) drive the two ends of the chain (400) away, the bead (821) can be separated from the groove (811).

10. A positioning fixture for a robotic arm used in pipeline inspection according to claim 9, characterized in that, The connection component (800) further includes: The third elastic element (850) acts on the retaining bead (821) at one end and on the sliding head (820) at the other end, providing the force for the retaining bead (821) to be engaged in the slot (811).

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